CN114955882B - Anti-swing control method and system for bridge crane and controller - Google Patents

Anti-swing control method and system for bridge crane and controller Download PDF

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Publication number
CN114955882B
CN114955882B CN202210569159.XA CN202210569159A CN114955882B CN 114955882 B CN114955882 B CN 114955882B CN 202210569159 A CN202210569159 A CN 202210569159A CN 114955882 B CN114955882 B CN 114955882B
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acceleration
trolley
bridge crane
load
time period
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CN114955882A (en
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刘国良
陈惠力
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Shandong University
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Shandong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to an anti-swing control method, a system and a controller for a bridge crane, which comprise the following steps: according to acceleration information of a trolley of the bridge crane, a target position of the trolley, a maximum acceleration and a maximum swing angle of a load allowed by the bridge crane, and the length of a steel wire rope between the trolley and the load, the trolley of the bridge crane is controlled by a set periodic acceleration instruction; the trolley is switched to uniform motion after running for a first time period at a first acceleration, and is switched to second acceleration after the uniform motion continues for a second time period; switching to uniform motion after operating for a third time period with the second acceleration, and switching back to the first acceleration after the uniform motion continues for the second time period; and switching to uniform motion after running for a first time period at the first acceleration, wherein the acceleration motion stage is ended and enters a uniform motion stage, and the trolley and the load are relatively stationary in the uniform motion stage. And realizing the anti-swing of the bridge crane by a set periodic acceleration instruction.

Description

Anti-swing control method and system for bridge crane and controller
Technical Field
The invention relates to the technical field of cranes, in particular to an anti-swing control method, an anti-swing control system and an anti-swing control controller for a bridge crane.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The bridge crane is a common industrial device, and the trolley is connected with the load through a flexible steel wire rope, so that the load is easy to swing when the trolley drives the load to operate, and the transportation efficiency of the bridge crane is affected.
The existing manual anti-swing method weakens the load swing capacity by controlling the reverse motion of the trolley through inching, so that the load is stopped rapidly, the mode can cause great mechanical loss, fatigue of workers is easy to cause, and potential safety hazard is great.
The mechanical anti-swing method consumes the energy of load swing in the running process of the trolley through mechanical means, and finally achieves the aim of eliminating the load swing.
The electric anti-swing control method has better anti-swing effect than the mechanical passive anti-swing control method, but the control process is complex and difficult to realize.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides the anti-swing control method, the system and the controller for the bridge crane, which are used for realizing the anti-swing control of the bridge crane by taking a set periodic acceleration instruction as a control quantity according to parameters of a trolley and a load and feedback of a swing angle in the running process, so that the load can not swing left when reaching a designated position, and the transportation efficiency of the bridge crane can be greatly improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides an anti-sway control method for a bridge crane, comprising the following steps:
acquiring acceleration information of a trolley of the bridge crane, and controlling the trolley of the bridge crane according to a set periodic acceleration instruction according to a target position of the trolley, a maximum acceleration and a maximum swing angle of a load allowed by the bridge crane and the length of a steel wire rope between the trolley and the load; the method comprises the following steps:
the trolley is switched to uniform motion after running for a first time period at a first acceleration, and is switched to second acceleration after the uniform motion continues for a second time period;
switching to uniform motion after operating for a third time period with the second acceleration, and switching back to the first acceleration after the uniform motion continues for the second time period;
and switching to uniform motion after running for a first time period at the first acceleration, wherein the acceleration motion stage is ended and enters a uniform motion stage, and the trolley and the load are relatively stationary in the uniform motion stage.
And after the uniform motion stage lasts for a fourth time period, entering a deceleration motion stage, wherein a periodic acceleration instruction in the deceleration motion stage corresponds to the acceleration motion stage.
In the form of a circleIndicating acceleration of the trolley>Phase plane trajectory during acceleration, circle +.>Indicating acceleration of the trolley>Phase plane track during acceleration; the initial state of the trolley is->Point, the trolley is at acceleration +>Starting to move the phase plane state to the point A after the first time period, and running at constant speed with the acceleration of 0 to the point B after the point A is reached, and starting to move the phase plane state to the point B with the acceleration +.>Maintaining at point B, switching acceleration to 0 to make the trolley state from point B to point C, and finally using acceleration +>Moving to the O point.
According to the phase plane trackIs the center of a circle->Is a circle with radius, and the intersection point of the circle with the transverse axis is +.>Coordinates, get the satisfied trolley at +.>And the points are used for uniformly accelerating the switching conditions of the acceleration during the linear motion.
According to the phase plane track, the trolley is positionedMaximum angle of load swing angle at point and trolley arrival +.>Time of dot, get->The expression of (2) further yields the value of the first time period.
In accordance with the phase plane trajectory,the expression of (2) yields the value of the second time period.
And assuming that the maximum speed allowed by the bridge crane is reached after the trolley runs for the first time period at the first acceleration, obtaining values of the third time period and the fourth time period according to the phase plane track.
In the acceleration movement stage, obtaining the maximum potential energy and the minimum potential energy of a load allowed by the bridge crane according to the load mass, and predicting the maximum swing angle which can be reached by the load, the minimum distance which the trolley needs to move at a set moment and the maximum speed of the trolley;
when the obtained load potential energy, the minimum distance the trolley needs to move and the maximum speed of the trolley are not larger than any one of the maximum acceleration allowed by the bridge crane, the maximum speed and the maximum swing angle of the load, the set moment is the first time period.
A second aspect of the present invention provides a system for implementing the above method, comprising:
an information identification module configured to: acquiring acceleration information of a trolley of the bridge crane;
an instruction output module configured to: controlling the trolley of the bridge crane according to the acceleration information of the trolley of the bridge crane, the moving target position of the trolley, the maximum acceleration and maximum speed allowed by the bridge crane, the maximum swing angle of the load and the length of a steel wire rope between the trolley and the load and a set periodic acceleration instruction; the method comprises the following steps:
the trolley is switched to uniform motion after running for a first time period at a first acceleration, and is switched to second acceleration after the uniform motion continues for a second time period;
switching to uniform motion after operating for a third time period with the second acceleration, and switching back to the first acceleration after the uniform motion continues for the second time period;
and switching to uniform motion after running for a first time period at the first acceleration, wherein the acceleration motion stage is ended and enters a uniform motion stage, and the trolley and the load are relatively stationary in the uniform motion stage.
A third aspect of the invention provides a controller.
A controller connected to a bridge crane, comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the bridge crane anti-sway control method.
Compared with the prior art, the above technical scheme has the following beneficial effects:
1. according to the parameters of the trolley and the load and the feedback of the swinging angle in the running process, the swinging control of the bridge crane is realized by taking the set periodic acceleration command as a control quantity, so that the load does not swing left when reaching the designated position, and the transportation efficiency of the bridge crane can be greatly improved.
2. The speed, the acceleration and the maximum swing angle of the load of the trolley are constrained within the allowable range of the bridge crane, so that the safety is ensured.
3. When the trolley of the bridge crane carries the load for running, the trolley sequentially passes through an acceleration stage, a uniform speed stage and a deceleration stage, a periodic acceleration instruction in the acceleration stage corresponds to the deceleration stage, and the control process is simple.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIGS. 1 (a) - (c) are schematic diagrams illustrating the relationship between load swing angle and angular velocity for different accelerations of a bridge crane cart according to one or more embodiments of the present invention;
FIGS. 2 (a) - (b) are schematic plan views of input periodic acceleration control dollies for implementing bridge crane sway prevention in accordance with one or more embodiments of the present invention;
FIG. 3 is a schematic diagram illustrating movement of a bridge crane provided in one or more embodiments of the present invention;
FIG. 4 is a schematic diagram of acceleration signals provided by one or more embodiments of the invention;
FIGS. 5 (a) - (d) are schematic diagrams illustrating simulated testing of anti-sway effects under open loop control of periodic acceleration inputs provided by one or more embodiments of the present invention;
fig. 6 (a) - (d) are schematic diagrams illustrating simulation test of anti-sway effects under closed-loop control of periodic acceleration inputs according to one or more embodiments of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The embodiment below provides a bridge crane anti-swing control method, a bridge crane anti-swing control system and a bridge crane controller, and provides an electric anti-swing method based on a control theory, wherein the open loop method not only can obtain an analysis expression of system motion, but also can ensure that no residual swing exists when a load reaches a designated position, and simultaneously can restrict the speed, the acceleration and the maximum swing angle of the load of the trolley within a system allowable range. The problem that the speed cannot reach the maximum value at a constant speed stage in the existing electric anti-swing methods is solved, and the transportation efficiency of the bridge crane can be greatly improved. The closed-loop control method is obtained by introducing angle feedback based on the open-loop control method, and the problem of dependence of the open-loop control method on system parameter precision is improved to a certain extent.
Embodiment one:
the anti-swing control method of the bridge crane comprises the following steps of:
acquiring acceleration information of a trolley of the bridge crane, and controlling the trolley of the bridge crane according to a set periodic acceleration instruction according to a target position of the trolley, a maximum acceleration and a maximum swing angle of a load allowed by the bridge crane and the length of a steel wire rope between the trolley and the load; the method comprises the following steps:
the trolley is switched to uniform motion after running for a first time period at a first acceleration, and is switched to second acceleration after the uniform motion continues for a second time period;
switching to uniform motion after operating for a third time period with the second acceleration, and switching back to the first acceleration after the uniform motion continues for the second time period;
and switching to uniform motion after running for a first time period at the first acceleration, wherein the acceleration motion stage is ended and enters a uniform motion stage, and the trolley and the load are relatively stationary in the uniform motion stage.
Specific:
the embodiment is designed on the basis of a two-dimensional dynamics model of the bridge crane, and the dynamics model can be obtained according to the Lagrange method
（1-1）
Wherein, indicating the mass of the trolley, < >>Indicating load mass->Indicating rope length +.>Representing the displacement of the trolley->Indicating the load swing angle>Indicating the gravitational acceleration.
Order theSubstituting the obtained product into a linearized two-dimensional dynamics model (1-1) to obtain
（1-2）
Because the acceleration of the bridge crane can be regarded as a constant value in a short time in practical application, the trolley can be analyzed firstly to have constant acceleration without external inputWhen in operation, the change rule of the load swing angle is provided. When->When the solution of the formula (1-2) is
（1-3）
Then, deriving both sides of the formula (1-3)
（1-4）
In the method, in the process of the invention,indicating the initial speed +.>Representing the initial acceleration. To simplify the analysis, the angular velocity signal is scaled, resulting in the following scale expression:
（1-5）
from the formulas (1-2) - (1-5), it is possible to obtain a composition containing onlyAnd->The expressions for the two arguments are as follows:
（1-6）
considering that the initial angle and angular velocity are generally 0 when the bridge crane system is started, the scaled angular velocity is also 0, i.e
（1-7）
Therefore, by combining (1-6) and (1-7), an expression of the initial state where the swing angle is zero can be obtained
（1-8）
When (when)Load status->And->The movement is clockwise on the circle with the increase of time, and the time of one circle of movement is +.>As shown in fig. 1 (a), it can be found that the load pivot angle periodically changes with an increase in time.
When (when)Load status->And->Is unchanged with time and stays at the origin at all times, as shown in fig. 1 (b), when the load and trolley are relatively stationary.
When (when)Load status->And->The movement is made similar to the first case with the increase in time as shown in fig. 1 (c).
From the analysis of fig. 1, the relationship between the car acceleration and the load swing angle can be found. Therefore, the embodiment takes a periodic acceleration track as a control quantity, so that the trolley of the bridge crane can accurately and quickly reach a designated position, and meanwhile, the swinging angle of a load is limited.
As shown in FIG. 2, wherein, in a circleIndicating acceleration of the trolley>Phase plane trajectory during acceleration, circle +.>Indicating acceleration of the trolley>Phase plane track during acceleration; the initial state of the trolley is->Point, the trolley is at acceleration +>Starting to move the phase plane state to the point A after the first time period, and running at constant speed with the acceleration of 0 to the point B after the point A is reached, and starting to move the phase plane state to the point B with the acceleration +.>Maintaining at point B, switching acceleration to 0 to make the trolley state from point B to point C, and finally using acceleration +>And moving to the point O to realize the acceleration process. The accurate positioning and anti-swing of the bridge crane are ensured by controlling the acceleration switching time.
A schematic diagram of the bridge crane motion is shown in fig. 3. The deceleration phase and the acceleration phase are completely symmetrical, and the time of the acceleration phase and the uniform speed phase is mainly calculated, wherein the time of the deceleration phase is obtained by the symmetrical acceleration time.
Hypothetically arrivingThe time of the dot is +.>Then->The expression of the point is
（1-9）
To be used forIs the center of a circle->The expression of a circle of radius is
（1-10）
Intersection with transverse axisCoordinates of->。
Wherein FIG. 2 (a) shows the phase of movement from constant accelerationSwitch to constant motion phase->Is of the time of (1)In the case of a homogeneous acceleration resting state +.>The method comprises the steps of carrying out a first treatment on the surface of the FIG. 2 (b) shows the switching time +.>From these two graphs it was found that the switching time can be controlled +.>Realize->The dots are 0 to-2->And/g in position.
To ensure that the system can be inThe uniform acceleration of the point in linear motion must ensure that the switched acceleration satisfies the following expression:
（1-11）
the motion track of the system in the third quadrant of the phase plane is analyzed, and the motion track of the second quadrant and the motion track of the third quadrant are symmetrical about the transverse axis according to the geometric relationship. The second and third quadrant motion tracks represent system acceleration phases, the first and fourth quadrants represent deceleration phases, the two phases are completely symmetrical about a longitudinal axis, and the constant speed phase is stationary at an origin. The periodic acceleration input expression is designed according to the phase plane motion trail and is as follows:
（1-12）
the expression trace is shown in fig. 4. Wherein, representing +.>Point movement to +.>Acceleration of the point; />Representation->Point movement to +.>The time of the dot.
At the same time, as can be seen from FIG. 2The point load swing angle is the maximum angle +.>The following expression can be deduced:
（1-13）
next, in combination with (1-9), it can be deduced that
（1-14）
The two integrals of the formulas (1-12) can be obtained
（1-15）
Wherein, indicates the time of continuous acceleration at point a, +.>Indicating the time of uniform motion.
Can be obtained according to the formulas (1-15)
（1-16）
Wherein, indicating the speed at which the uniform motion is performed.
In order to make the trolley reach the target position as soon as possible
（1-17）
By combining the formulas (1-16) and (1-17), it is possible to obtain
（1-18）
Based on the geometric principle analysis diagram, the combination of (1-14) can obtain
（1-19）
Further, the switching time can be obtained by the formulas (1-19)
（1-20）
The acceleration phase run time, i.e., the arc, can be obtained by combining equations (1-18) and (1-20)Run time of
（1-21）
The final product is then obtained by the formula (1-21)Is that
（1-22）
Next, according to the geometric relationship, obtain
（1-23）
Finally obtaining a uniform velocity stage, namely an arc lineThe duration is as follows:
（1-24）
assume thatThe duration of the homogeneous acceleration relative to the rest state can be obtained according to the formulas (1-15) as
（1-25）
Wherein, representing the target position, i.e. the distance the trolley is to move, obtained according to formula (1-25)>But may have a value less than 0. When->At the moment, it is indicated that there is no constant motion phase in the whole motion process, and at this time, the system may not reach the maximum speed allowed by the system +.>Thus recalculate +.>Is that
（1-26）
Obtaining the maximum speed finally reached by the system according to (1-26)Will->Substitution into (1-25) gives the final determination +.>And->。
In summary, by given parametersDetermining periodic acceleration input trajectory parametersAnd realizing open loop control of periodic acceleration input.
Wherein, indicating the target position to which the bridge crane trolley is to be moved,/->Representing the maximum acceleration allowed by the bridge crane, +.>Represents the maximum speed allowed by the bridge crane, +.>Representing the maximum swing angle of the load allowed by the bridge crane, < + >>Indicates the rope length (i.e. the length of the wire rope between the trolley and the load), the +.>Is->The point load pivot angle is the maximum angle.
The process forms an open loop control method, and according to parameters of the trolley and the load, the swing prevention of the bridge crane is realized by taking a group of acceleration tracks with different set periods as control quantities. The control quantity is acceleration, the acceleration of the trolley is directly controlled by the controller, the position information and the load swing angle information of the trolley can be obtained by the sensor of the trolley, the speed can be obtained by deriving the position information, and then the acceleration can be obtained by deriving the speed.
Embodiment two:
the first embodiment provides an open-loop control method, wherein an angle feedback loop is introduced on the basis of open-loop control, so that dependence of the process of calculating the acceleration switching time on system parameters is reduced. Specific:
(1) The time of the first acceleration stage is obtained。
The maximum potential energy of the load allowed by the system during the acceleration movement process of the trolley is
（1-27）
Wherein the method comprises the steps ofThe trolley is in the first acceleration phase, i.e. +.>Stage, the minimum potential energy of the load is
（1-28）
To ensure that the load angle is within the constraints, the load potential must be satisfied
（1-29）
Maximum pivot angle that can be reached by a load can be predicted by geometric analysis
（1-30）
Binding (1-30), can be predictedDistance of least movement of the trolley at the moment
（1-31）
In order to ensure that the trolley can accurately reach the target position, the trolley position must satisfy
（1-32）
Can predict the maximum speed of the trolley as
（1-33）
In order to ensure that the vehicle speed is within the constraints, the vehicle speed must be satisfied
（1-34）
Wherein, representing the maximum speed that can be reached under all conditions, equations (1-29), (1-32) and (1-34) must be satisfied simultaneously during the course of the movement of the trolley. In order to maximize the transport efficiency of the system, the time at this moment is taken to be +.>I.e.
（1-35）
(2) The constant motion of the trolley is calculated, and the non-constant motion stage of load is thatDuration of +.>。
Angular velocity of real-time reading systemWhen the angular velocity satisfies->When using the current time +.>Can obtain
（1-36）
(3) Calculating duration of trolley uniform acceleration relative to stationary state。
The maximum speed of the trolley is known as
（1-37）
（1-38）
Wherein the method comprises the steps ofThe end time of the trolley uniform acceleration relative to the stationary state is represented, and then the minimum distance to be moved by the trolley at the current time is predicted:
（1-39）
for equations (1-38) and (1-39), it is necessary to satisfy both (1-32) and (1-34), respectively, and when one of the conditions reaches the critical value, it is determined thatI.e.
（1-40）
(4) Calculating absolute constant speed time of trolley。
Is assumed to be inThe constant motion is ended at the moment and enters a deceleration stage
（1-41）
The distance the trolley is least to move at the current moment can be predicted:
（1-42）
the expression (1-42) must satisfy (1-32) during the uniform motion of the trolley, and when the condition reaches the critical value, it can be determined thatI.e.
（1-43）
Thus, the switching time can be calculated according to the formulas (1-27) - (1-43)Then according to the expression (1-12)To obtain a complete trace of the periodic acceleration input. And finally, taking the periodic acceleration track as the control quantity of the bridge crane to realize accurate positioning and anti-swing control.
The process forms closed loop control, and according to parameters and angle feedback of the trolley and the load, the anti-swing of the bridge crane is realized by taking a group of acceleration tracks with different set periods as control quantities.
Simulation verification:
the bridge crane parameters of the design system are shown in Table 1, whereinRepresenting the maximum acceleration allowed by the system, +.>Indicating the maximum swing angle of the load allowed by the system, +.>Represents the maximum speed allowed by the system, +.>Representing the target location. And then the acceleration switching time is calculated according to the algorithm provided by the embodiment and is shown in the table 2, so that an acceleration input track can be obtained, and the control of the bridge crane can be realized by taking the track as a control quantity. The final experimental results are shown in fig. 5 and 6.
TABLE 1 System parameter Table
Table 2 calculation results of simulation parameters of periodic acceleration input closed-loop control method
It can be found that the accuracy of the arrival of the trolley at the target position is not very different in the two control methods of the first embodiment and the second embodiment, but the time for the trolley to reach the target position under the closed-loop control is 9.8458s faster than the open-loop control running time 9.8463s, but is not very different. The anti-swing effect of the two control methods can meet the requirements, but the closed-loop control robustness effect is better.
Embodiment III:
the embodiment provides a system for realizing the method, which comprises the following steps:
an action recognition module configured to: the method comprises the steps that an operator and a robot are located in the same working space, based on a constructed action recognition model, the current action state of the operator is recognized to be walking, observing or working by using the acquired action information of the operator;
a distance calculation module configured to: obtaining the distance between the operator and the robot by using the obtained position information of the operator and the robot;
a risk level determination module configured to: and generating risk prompt instructions under different action states according to the current action state of the operator and the obtained minimum distance.
Example IV
The embodiment provides a controller which is connected to a bridge crane and comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the steps in the bridge crane anti-swing control method when executing the program.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage, etc.) having computer-usable program code embodied therein, or in hardware form (e.g., a controller) adapted to a bridge crane.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A bridge crane anti-swing control method is characterized in that: the method comprises the following steps:
controlling the trolley of the bridge crane according to the acceleration information of the trolley of the bridge crane, the moving target position of the trolley, the maximum acceleration allowed by the bridge crane, the maximum speed, the maximum swing angle of the load and the length of a steel wire rope between the trolley and the load by a set periodic acceleration instruction; the method comprises the following steps:
the trolley is switched to uniform motion after running for a first time period at a first acceleration, and is switched to second acceleration after the uniform motion continues for a second time period;
switching to uniform motion after operating for a third time period with the second acceleration, and switching back to the first acceleration after the uniform motion continues for the second time period;
switching to uniform motion after running for a first time period at a first acceleration, wherein the acceleration motion stage is ended and enters a uniform motion stage, and the trolley and the load are relatively stationary in the uniform motion stage;
in the form of a circleIndicating acceleration of the trolley>Phase plane trajectory during acceleration, circle +.>Indicating acceleration of the trolley>Phase plane track during acceleration; the initial state of the trolley is->Point, the trolley is at acceleration +>Starting to move the phase plane state to the point A after the first time period, and running at constant speed with the acceleration of 0 to the point B after the point A is reached, and starting to move the phase plane state to the point B with the acceleration +.>Maintaining at point B, switching acceleration to 0 to make the trolley state from point B to point C, and finally using acceleration +>Move to the O point, +.>The expression of the point is
Wherein, to arrive at/>Time of dot->To get to->Load swing angle of time of point, +.>Indicating arrival->The square of the load state of the time of the point, T is the time of one run on the circle, +.>Representing gravitational acceleration;
according to the phase plane trackIs the center of a circle->Is a circle with radius, and the intersection point of the circle with the transverse axis is +.>Coordinates, get the satisfied trolley at +.>The points do the switching condition of acceleration when uniformly accelerating the linear motion,
at the position ofThe uniform acceleration of the point in linear motion must ensure that the switched acceleration satisfies the following expression:
to get to->Time of dot->To get to->Load swing angle of time of point, +.>Representing arrivalSquare of load status of time of point, +.>Representing gravitational acceleration;
according to the phase plane track, the trolley is positionedMaximum angle of load swing angle at point and trolley arrival +.>Time of dot, get->The expression of (2) further obtains the value of the first time period;
in accordance with the phase plane trajectory,the expression of (2) results in a second period of timeTaking a value;
in the acceleration movement stage, an angle feedback loop is introduced, and according to parameters of the trolley and the load and angle feedback, the anti-swing of the bridge crane is realized by taking a group of acceleration tracks with different set periods as control quantities;
obtaining the maximum potential energy and the minimum potential energy of a load allowed by the bridge crane according to the load mass, and predicting the maximum swing angle which can be reached by the load, the minimum distance which the trolley needs to move at a set moment and the maximum speed of the trolley;
when the obtained load potential energy, the minimum distance the trolley needs to move and the maximum speed of the trolley are not larger than any one of the maximum acceleration allowed by the bridge crane, the maximum speed and the maximum swing angle of the load, the set moment is the first time period.
2. The bridge crane anti-sway control method of claim 1, wherein: and after the uniform motion stage lasts for a fourth time period, entering a deceleration motion stage, wherein a periodic acceleration instruction in the deceleration motion stage corresponds to the acceleration motion stage.
3. The bridge crane anti-sway control method of claim 1, wherein: and assuming that the maximum speed allowed by the bridge crane is reached after the trolley runs for the first time period at the first acceleration, obtaining values of the third time period and the fourth time period according to the phase plane track.
4. A bridge crane anti-sway control system for implementing the bridge crane anti-sway control method according to any one of claims 1-3, characterized in that: comprising the following steps:
an information identification module configured to: acquiring acceleration information of a trolley of the bridge crane;
an instruction output module configured to: controlling the trolley of the bridge crane according to the acceleration information of the trolley of the bridge crane, the moving target position of the trolley, the maximum acceleration and maximum speed allowed by the bridge crane, the maximum swing angle of the load and the length of a steel wire rope between the trolley and the load and a set periodic acceleration instruction; the method comprises the following steps:
the trolley is switched to uniform motion after running for a first time period at a first acceleration, and is switched to second acceleration after the uniform motion continues for a second time period;
switching to uniform motion after operating for a third time period with the second acceleration, and switching back to the first acceleration after the uniform motion continues for the second time period;
and switching to uniform motion after running for a first time period at the first acceleration, wherein the acceleration motion stage is ended and enters a uniform motion stage, and the trolley and the load are relatively stationary in the uniform motion stage.
5. A controller connected to a bridge crane, comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the bridge crane anti-sway control method according to any one of claims 1 to 3.
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